EP1113760A1 - System and method for performing image directed robotic orthopedic procedures without a fiducial reference system - Google Patents
System and method for performing image directed robotic orthopedic procedures without a fiducial reference systemInfo
- Publication number
- EP1113760A1 EP1113760A1 EP99946928A EP99946928A EP1113760A1 EP 1113760 A1 EP1113760 A1 EP 1113760A1 EP 99946928 A EP99946928 A EP 99946928A EP 99946928 A EP99946928 A EP 99946928A EP 1113760 A1 EP1113760 A1 EP 1113760A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- bone
- data set
- coordinates
- image data
- robotic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000000399 orthopedic effect Effects 0.000 title description 3
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 371
- 238000004364 calculation method Methods 0.000 claims abstract description 20
- 230000001131 transforming effect Effects 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000012360 testing method Methods 0.000 claims description 50
- 210000000689 upper leg Anatomy 0.000 claims description 48
- 230000033001 locomotion Effects 0.000 claims description 16
- 239000000523 sample Substances 0.000 claims description 13
- 239000003550 marker Substances 0.000 claims description 11
- 238000003325 tomography Methods 0.000 claims description 6
- 210000004872 soft tissue Anatomy 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 description 32
- 239000007943 implant Substances 0.000 description 12
- 230000009466 transformation Effects 0.000 description 11
- 238000003384 imaging method Methods 0.000 description 7
- 238000002604 ultrasonography Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 210000004394 hip joint Anatomy 0.000 description 4
- 238000011540 hip replacement Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 238000002591 computed tomography Methods 0.000 description 3
- 238000002513 implantation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000011541 total hip replacement Methods 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000013150 knee replacement Methods 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 238000002601 radiography Methods 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 241000412169 Peria Species 0.000 description 1
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000001054 cortical effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 206010015037 epilepsy Diseases 0.000 description 1
- 210000002436 femur neck Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000002758 humerus Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012829 orthopaedic surgery Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000001959 radiotherapy Methods 0.000 description 1
- 210000002320 radius Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000002603 single-photon emission computed tomography Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 210000000623 ulna Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G06T3/02—
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/363—Use of fiducial points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
- F16D1/06—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end
- F16D2001/062—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end characterised by adaptors where hub bores being larger than the shaft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S128/00—Surgery
- Y10S128/92—Computer assisted medical diagnostics
- Y10S128/922—Computer assisted medical diagnostics including image analysis
Definitions
- the distances between the coordinates of the bone image data set (which is treated as a rigid body) and the digitized bone data set (which is also treated as a rigid body) is minimized.
- This best fit procedure is preferably performed as an iterative calculation which may preferably use a first comparison of the relative positions of an end of the bone, and of the distal and proximal centroids of the bone as calculated from the bone image data set compared with those as calculated from the digitized bone data set.
- the position and orientation of a "cut cavity" coordinate system which represents the region of bone to be milled away by a surgical robotic arm, can then be superimposed on the transformed bone image data set, such that the position of the surgical robotic arm relative to the bone can be established and controlled.
- hip replacement surgery may be performed by positioning the surgical robotic arm based on information in a transformed image data set obtained by any of the methods described above.
- the surgical robotic arm is positioned according to a preoperative plan, and the robotic cutter, attached thereto, is actuated and manipulated to produce a cavity in the femur for receiving a hip joint prosthesis.
- the hip joint prosthesis is implanted within the cavity in a generally conventional manner.
- the present invention provides methods, systems, apparatus for transforming a bone image data set representing the geometric shape of the long bone into a system coordinate space, typically a robotic system intended to perform or assist in any of the procedures described above.
- the present invention is not limited to such robotic procedures and will be equally useful in manual surgical, diagnostic, and other medical procedures where it is necessary to align a pre- obtained image of a long bone within an actual coordinate space, such as an operative space.
- Such manual systems and procedures include computer-assisted surgical procedures that employ optical surgical measurement tools, passive electromechanical devices, and the like.
- the use of the present invention is advantageous in that it will provide highly accurate image registration with an immobilized long bone without the need to preimplant multiple fiducial markers along the bone and/or surgically access the bone at multiple points along its length.
- FIG. 1 an exemplary system 10 capable of implementing the methods of the present invention for hip replacement surgery is illustrated in Fig. 1.
- the system 10 includes both a presurgical planning workstation 12 and a library of implant designs 14 in the form of CAD model data sets 15.
- a bone image data set 16 typically representative of a CT bone image, is obtained and transferred into the presurgical planning workstation 12.
- the user typically the treating physician or an assistant working with the treating physician, is able to work at the presurgical planning workstation to select and position a suitable implant design within the patient femur. Details of such presurgical planning are well described in the literature relating to the ORTHODOCTM presurgical planning system cited above.
- Digitized bone data set 17 is generated by contacting sterile tipped probe link 109 against a plurality of surface locations on the surface of the bone, while recording these locations as a set of positional coordinates.
- These locations preferably include, for example, locations 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96 and 97 as best seen in Figs. 4A, 4B, 4C and 4D, as will be explained. Since the position of proximal end 102 is initially at a known location in the robotic coordinate system, the positions of each of the coordinates of digitized bone data set 17 will also be determined in the robotic coordinate system.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/152,359 US6033415A (en) | 1998-09-14 | 1998-09-14 | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
PCT/US1999/021115 WO2000015134A1 (en) | 1998-09-14 | 1999-09-13 | System and method for performing image directed robotic orthopedic procedures without a fiducial reference system |
US152359 | 2002-05-20 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1113760A1 true EP1113760A1 (en) | 2001-07-11 |
EP1113760A4 EP1113760A4 (en) | 2005-12-21 |
EP1113760B1 EP1113760B1 (en) | 2008-11-19 |
Family
ID=22542597
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99946928A Expired - Lifetime EP1113760B1 (en) | 1998-09-14 | 1999-09-13 | System for performing image directed robotic orthopedic procedures without a fiducial reference system |
Country Status (6)
Country | Link |
---|---|
US (1) | US6033415A (en) |
EP (1) | EP1113760B1 (en) |
JP (1) | JP4815054B2 (en) |
AT (1) | ATE414482T1 (en) |
DE (1) | DE69939940D1 (en) |
WO (1) | WO2000015134A1 (en) |
Families Citing this family (320)
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US7635390B1 (en) | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
GB0015683D0 (en) | 2000-06-28 | 2000-08-16 | Depuy Int Ltd | Apparatus for positioning a surgical instrument |
GB0114659D0 (en) * | 2001-06-15 | 2001-08-08 | Finsbury Dev Ltd | Device |
US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
JP2003144454A (en) * | 2001-11-16 | 2003-05-20 | Yoshio Koga | Joint operation support information computing method, joint operation support information computing program, and joint operation support information computing system |
GB0127659D0 (en) * | 2001-11-19 | 2002-01-09 | Acrobot Company The Ltd | Apparatus and method for registering the position of a surgical robot |
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EP1113760B1 (en) | 2008-11-19 |
JP2002524192A (en) | 2002-08-06 |
JP4815054B2 (en) | 2011-11-16 |
WO2000015134A1 (en) | 2000-03-23 |
US6033415A (en) | 2000-03-07 |
ATE414482T1 (en) | 2008-12-15 |
EP1113760A4 (en) | 2005-12-21 |
DE69939940D1 (en) | 2009-01-02 |
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